CN109263717B - Multi-mode steer-by-wire automobile and steering control method thereof - Google Patents
Multi-mode steer-by-wire automobile and steering control method thereof Download PDFInfo
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- CN109263717B CN109263717B CN201811375757.3A CN201811375757A CN109263717B CN 109263717 B CN109263717 B CN 109263717B CN 201811375757 A CN201811375757 A CN 201811375757A CN 109263717 B CN109263717 B CN 109263717B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Combustion & Propulsion (AREA)
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- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a steering control method of a multi-mode steer-by-wire automobile, which comprises the following steps: when the driver switches the steering mode, the steering controller sends out a trigger signal for switching the mode when judging that the condition for switching the mode is met according to the current steering mode, the steering mode switched by the driver, the steering wheel angle during switching and the wheel speed during switching; the steering controller calculates a target wheel corner and torque according to the steering mode after switching, the steering wheel corner after switching, the wheel speed after switching and the wheel corner information after switching, and sends the target wheel corner and torque to the vehicle controller and the steering motor controller to control the hub motor and the steering motor to work so as to realize steering. Through independent steering modes or combination and switching control among different steering modes, the functions of lane changing overtaking, roadside side parking and the like of the vehicle can be realized more flexibly.
Description
Technical Field
The invention relates to the field of steer-by-wire automobiles, in particular to a multi-mode steer-by-wire automobile and a steering control method thereof.
Background
The steering system of the automobile is one of main components of an automobile driving system, and functions to enable the automobile to control the driving direction according to the intention of a driver during the driving of the automobile. Automotive steering systems can be classified into mechanical steering systems and power steering systems according to the steering energy source. The mechanical steering system takes the physical strength of the driver as all power sources during steering, and because the mechanical steering system has larger load on the driver, the comfort of the driver is easy to be reduced, and the mechanical parts are more,
while power steering systems primarily refer to power assisted steering arrangements in which only a small portion of the steering power is provided by the driver and a large portion is provided by hydraulic or motor torque. The power-assisted steering system has the advantages that the steering operation can save a part of the physical strength of a driver, and can obtain the steering resistance feedback during steering, so that the driver can obtain the road surface information during steering. At present, the power steering system is widely applied to an electric power steering system, and most of energy required by the electric power steering system in normal steering operation is provided by motor torque, but because people continuously explore unmanned technologies, the power steering structure cannot meet the requirements of technical development of intelligent vehicles in the future.
Therefore, the concept of the steering-by-wire system is put forward, the steering-by-wire system cancels the mechanical connection between the steering wheel and the steering wheel, the steering is realized by electric energy completely, various limitations of the traditional steering system are eliminated, the force transmission characteristic of the steering of the automobile can be designed freely, the angle transmission characteristic of the steering of the automobile can be designed, infinite space is brought to the design of the steering characteristic of the automobile, and the steering-by-wire system is a great innovation of the steering system of the automobile.
Disclosure of Invention
The invention provides a multi-mode steer-by-wire automobile, which can detect the running condition of the automobile in real time and can timely feed back the mode conversion of the automobile.
The invention also provides a steering control method of the multi-mode steer-by-wire automobile, which can realize the functions of more flexible lane changing overtaking, roadside parking and the like of the automobile through independent steering modes or combination and switching control among different steering modes.
The technical scheme provided by the invention is as follows: a multi-mode steer-by-wire automobile comprising:
a hub motor for driving an automobile;
a steering motor for effecting wheel steering;
a steering controller connected to the wheel hub motor and the steering motor and configured to control switching between modes, and calculate a target wheel rotation angle and a wheel hub motor torque;
the steering motor controller is used for receiving signals of the steering controller and controlling the working state of the steering motor;
and the vehicle controller is used for receiving the torque direction instruction of the hub motor sent by the steering controller and sending and collecting the rotating speed signal of the hub motor to the steering controller.
Preferably, the method further comprises:
a steering angle sensor provided on the steering wheel for detecting a steering angle of the steering wheel;
and a speed sensor provided at the wheel for detecting a wheel speed.
It is preferred that the composition of the present invention,
the steering controller is connected with the vehicle controller through a CAN bus.
A steering control method of a multimode steer-by-wire automobile, comprising:
when the driver switches the steering mode, the steering controller sends out a trigger signal for switching the mode when judging that the condition for switching the mode is met according to the current steering mode, the steering mode switched by the driver, the steering wheel angle during switching and the wheel speed during switching;
the steering controller calculates a target wheel corner and torque according to the steering mode after switching, the steering wheel corner after switching, the wheel speed after switching and the wheel corner information after switching, and sends the target wheel corner and torque to the vehicle controller and the steering motor controller to control the hub motor and the steering motor to work so as to realize steering.
It is preferred that the composition of the present invention,
the steering mode includes: parking travel, diagonal, four-wheel steering, front-wheel steering, and center steering.
It is preferred that the composition of the present invention,
the judging rule specifically comprises the following steps:
when the current steering mode and the switching steering mode are switched among three modes of front wheel steering, four-wheel steering and diagonal steering, the steering wheel turning angle is required to be zero;
when the current steering mode is parking running or central steering, the other modes can be switched under the condition that the wheel speed and the steering wheel angle are both zero.
It is preferred that the composition of the present invention,
when the steering mode after switching is front wheel steering or four-wheel steering, the steering controller controls the front wheel turning angle theta 1 The method meets the following conditions:
θ 1 ＝α/i 1
where α is the steering wheel angle after switching, i 1 Is the angular transmission ratio between the front wheel angle and the steering wheel angle;
when the steering mode after switching is that the front wheels steer, the turning angle of the rear wheels is 0;
when the steering mode after switching is four-wheel steering, the rear wheel steering angle is equal to the front wheel steering angle in size and opposite in direction.
It is preferred that the composition of the present invention,
when the steering mode after switching is diagonal, the steering controller controls the front wheel and rear wheel steering angle theta 2 The method meets the following conditions:
θ 2 ＝min{45,α/i 2 }；
wherein i is 2 To switch to the angular transmission ratio between the turning angle of each wheel and the turning angle of the steering wheel after the oblique running.
It is preferred that the composition of the present invention,
when the switched steering mode is parking running, the steering controller controls the left front wheel and the right rear wheel to rotate clockwise by 90 degrees, and the left rear wheel and the right front wheel rotate anticlockwise by 90 degrees.
It is preferred that the composition of the present invention,
when the steering mode after switching is the center steering, the steering controller controls the turning angles of all the wheels to meet the following conditions:
in θ 3 The absolute value of the wheel rotation angle is L, the wheel base of the vehicle, and B, the wheel base of the vehicle.
The beneficial effects of the invention are as follows: the invention can realize the conventional running, four-wheel steering, inclined running, parking running and in-situ center steering of the vehicle, has rich steering modes and strong practicability; through independent steering modes or combination and switching control among different steering modes, very practical functions such as more flexible lane changing overtaking, roadside parking and the like of the vehicle can be realized, which cannot be realized by conventional vehicles; through the in-situ center steering and the large-rotation-angle four-wheel steering of the vehicle, the vehicle can quickly and flexibly turn around in a narrow warehouse, a roadway and a lane, and has extremely high flexibility.
Drawings
Fig. 1 is a schematic view of an automobile running in four-wheel steering according to the present invention.
Fig. 2 is a schematic diagram of the driving of the automobile during the diagonal movement according to the present invention.
Fig. 3 is a schematic view of the present invention when the vehicle is driving in parking.
Fig. 4 is a schematic view of the running of the automobile at the time of the center steering of the present invention.
Fig. 5 is a schematic view of the wheel angle according to the present invention.
Fig. 6 is a steering control signal flow of the present invention.
Fig. 7 is a schematic diagram of the steering control of the present invention.
FIG. 8 is a diagram of a mode decision transition condition according to the present invention.
Fig. 9 is a torque control flow chart in the parking travel and center steering mode of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
The invention provides a multimode steer-by-wire automobile, comprising: a hub motor for driving an automobile; a steering motor for effecting wheel steering; a steering controller connected to the wheel hub motor and the steering motor and configured to control switching between modes, and calculate a target wheel rotation angle and a wheel hub motor torque; the steering motor controller is used for receiving signals of the steering controller and controlling the working state of the steering motor; and the vehicle controller is used for receiving the torque direction instruction of the hub motor sent by the steering controller and sending and collecting the rotating speed signal of the hub motor to the steering controller. A steering angle sensor provided on the steering wheel for detecting a steering angle of the steering wheel; and a speed sensor provided at the wheel for detecting a wheel speed. The steering controller is connected with the vehicle controller through a CAN bus.
The invention provides a steering control method of a multi-mode steer-by-wire automobile
When a driver switches a steering mode, the steering controller SCU sends out a trigger signal for switching the mode when judging that the condition for switching the mode is met according to the current steering mode, the steering mode switched by the driver, the steering wheel angle during switching and the wheel speed during switching;
the steering controller SCU calculates the wheel corner torque according to the steering mode after switching, the steering wheel corner after switching, the wheel speed after switching and the wheel corner information after switching, and sends the wheel corner torque to the vehicle controller to control the hub motor to work so as to realize steering.
As shown in fig. 1 to 4, the steering control method of the multimode steer-by-wire automobile according to the present invention mainly realizes different steering modes by controlling the turning angles of four wheels, and includes: conventional front wheel steering, four wheel steering, diagonal, park travel, and in-situ center steering. The maximum rotation angle of each wheel is shown in fig. 5, the maximum rotation angle of the wheel at the outer side is 90 degrees, the maximum rotation angle of the wheel at the inner side is 45 degrees, and the steering angle of 135 degrees can be realized for each wheel. Wherein, the front wheel and the rear wheel of the automobile rotate in opposite directions and have the same angle during four-wheel steering. When the automobile is inclined, the rotation angles and the rotation directions of the front wheel and the rear wheel of the automobile are the same. When the vehicle is parked, the four wheels keep the same direction and 90-degree rotation angle. The four wheels are in reverse phase rotation angles during central steering.
The steering control signal flow and control schematic are shown in fig. 6 and 7. The SCU sends out a trigger signal for switching the mode when judging that the condition for switching the mode is met according to the current steering mode, the steering mode switched by the driver, the steering wheel angle during switching and the wheel speed during switching;
and calculating a steering mode, a target wheel rotation angle and a hub motor torque direction so as to perform switching control among the modes. The steering mode signal switched by the driver is the only trigger signal of steering mode switching control, and the steering wheel angle and the wheel speed during switching are judging conditions of mode switching. The steering mode, the steering wheel angle and the wheel angle signals are directly sent to the steering controller SCU, the steering controller SCU sends a hub motor torque direction instruction to the vehicle controller VCU, and the vehicle controller VCU collects rotating speed signals of the hub motor and sends the rotating speed signals to the steering controller SCU.
The control flow of the steering controller SCU includes two steps of mode decision and wheel turning angle and torque calculation. First is a mode decision. After the vehicle is started, the normal front wheel steering mode is entered by default. Before the steering intention of the driver is not obtained, the vehicle always keeps the current steering mode; after receiving the driver mode switching signal, the steering controller SCU obtains the steering intention of the driver through the steering mode input by the driver and the steering wheel angle signal during switching, and is used as a trigger signal for maintaining or switching the mode of the steering controller SCU, and the controller maintains or switches the mode according to the current vehicle running parameters. The mode decision transition conditions are shown in fig. 8.
When the current steering mode and the switching mode are switching between any two of front-wheel steering, four-wheel steering, and diagonal steering, the steering controller SCU achieves free switching between these 3 modes with the steering wheel angle being zero (steer=0).
When the current steering mode is the parking running and other modes are switched, the steering controller SCU performs the parking running leftwards (rightwards) or switches from the parking steering mode to other modes according to the steering direction of the steering wheel under the condition that each wheel speed (w=0) and the steering wheel angle (steer=0) are both zero; ignoring the driver's steering intent under non-zero conditions, the current mode is maintained.
When the current steering mode is the central steering and other modes are switched, the steering controller SCU performs clockwise (anticlockwise) steering or switches from the central steering mode to other modes according to the steering direction of the steering wheel under the condition that each wheel speed and each steering wheel angle are zero; ignoring the driver's steering intent under non-zero conditions, the current mode is maintained.
After the steering mode is obtained, the steering controller SCU calculates a wheel turning angle value and a torque direction according to the steering wheel turning angle after switching and a set turning angle parameter (transmission ratio), and sends the wheel turning angle value and the torque direction to the steering executing mechanism.
When the steering mode after switching is the front wheel steering mode and the four-wheel steering mode, the steering controller SCU obtains the corner value of each wheel by utilizing the set corner transmission ratio between the front wheel corner and the steering wheel corner according to the steering wheel corner signal after switching. The steering controller controls the front wheel steering angle θ by controlling the steering motor 1 The method meets the following conditions:
θ 1 ＝α/i 1
wherein alpha is steering wheel angle after switching, i 1 Is the angular transmission ratio between the front wheel angle and the steering wheel angle;
when the front wheels turn, the turning angle of the rear wheels is 0; when four-wheel steering is performed, the rear wheel steering angle is equal to the front wheel steering angle in size and opposite in direction.
When the steering mode after switching is diagonal, the running direction and the turning angle of the vehicle are controlled by the steering wheel. In this mode the maximum rotation angle of each wheel is + -45 deg.. And when the wheel rotation angle exceeds 45 deg., the wheel is kept unchanged at the maximum rotation angle. Steering controller controls front wheel and rear wheel steering angle θ 2 The method meets the following conditions:
θ 2 ＝min{45,α/i 2 }；
wherein i is 2 To switch to the angular transmission ratio between the turning angle of each wheel and the turning angle of the steering wheel after the oblique running.
When the steering mode after switching is the center steering and parking steering mode, the steering controller SCU needs to control the in-wheel motor torque direction through the vehicle controller VCU. The steering controller SCU acquires steering mode, steering wheel angle and wheel angle signals, and calculates to obtain a target wheel angle and a hub motor torque direction. The steering controller SCU sends a target wheel corner instruction to the steering motor controller MCU through the CAN bus, and sends a hub motor torque instruction to the vehicle controller VCU, and the vehicle controller VCU sends a torque direction instruction to the hub motor controller MCU# through the CAN bus, so that the vehicle in-situ center steering and parking running are realized.
When the steering mode after switching is parking running, the steering controller sends a turning angle signal to each wheel in the parking steering mode: the left and right front wheels rotate clockwise 90 deg., and the left and right front wheels rotate counterclockwise 90 deg.. The parking running direction of the vehicle is realized by an in-wheel motor.
When the steering mode after switching is the center steering mode, the steering controller SCU sends the designed wheel angle value instruction to the steering execution module. Clockwise and counterclockwise steering is achieved by controlling the direction of the hub motor torque. The calculation formula of the rotation angle of each wheel in the in-situ center steering mode is as follows:
in theta 3 The absolute value of the wheel rotation angle is in degrees, L is the wheelbase of the vehicle, B is the wheelbase of the vehicle, and L is the wheelbase of the vehicle.
Since the steering wheel angle of the parking travel and center steering modes does not affect the steering direction, a steering wheel angle dead zone of 10 ° is set to avoid false touching of the steering wheel. Further, as shown in fig. 9, in both modes, the steering controller SCU acquires actual steering angle signals of the respective wheels, and the wheel driving force is zero before the wheels are turned to the target steering angle θ_d.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (4)
1. A steering control method of a multimode steer-by-wire automobile is characterized in that,
the multimode steer-by-wire automobile comprises:
a hub motor for driving an automobile;
a steering motor for effecting wheel steering;
a steering controller connected to the wheel hub motor and the steering motor and configured to control switching between modes, and calculate a target wheel rotation angle and a wheel hub motor torque;
the steering motor controller is used for receiving signals of the steering controller and controlling the working state of the steering motor;
the vehicle controller is used for receiving a torque direction instruction of the hub motor sent by the steering controller and sending and collecting a rotating speed signal of the hub motor to the steering controller;
the steering control method of the multimode steer-by-wire automobile,
when the driver switches the steering mode, the steering controller sends out a trigger signal for switching the mode when judging that the condition for switching the mode is met according to the current steering mode, the steering mode switched by the driver, the steering wheel angle during switching and the wheel speed during switching;
the steering controller calculates a target wheel corner and torque according to the switched steering mode, the switched steering wheel corner, the switched wheel speed and the switched wheel corner information, and sends the target wheel corner and torque to the vehicle controller and the steering motor controller to control the hub motor and the steering motor to work so as to realize steering;
the judgment rule specifically comprises:
when the current steering mode and the switching steering mode are switched among three modes of front wheel steering, four-wheel steering and diagonal steering, the steering wheel turning angle is required to be zero;
when the current steering mode is parking running or central steering, the vehicle can be switched to other modes under the condition that the wheel speed and the steering wheel angle are both zero;
when the steering mode after switching is front wheel steering or four-wheel steering, the steering controller controls the front wheel turning angle theta 1 The method meets the following conditions:
θ 1 ＝αi 1
where α is the steering wheel angle after switching, i 1 Is the front wheel angle and the steering wheel angleAngular transmission ratio between;
when the steering mode after switching is that the front wheels steer, the turning angle of the rear wheels is 0;
when the steering mode after switching is four-wheel steering, the rear wheel steering angle is equal to the front wheel steering angle in size and opposite in direction;
when the steering mode after switching is diagonal, the steering controller controls the front wheel and rear wheel steering angle theta 2 The method meets the following conditions:
θ 2 ＝min{45,αi 2 }；
wherein i is 2 The angle transmission ratio between the turning angle of each wheel and the turning angle of the steering wheel after the oblique running is switched;
when the steering mode after switching is parking running, the steering controller controls the left front wheel and the right rear wheel to rotate 90 degrees clockwise, and the left rear wheel and the right front wheel rotate 90 degrees anticlockwise;
when the steering mode after switching is the center steering, the steering controller controls the turning angles of all the wheels to meet the following conditions:
in θ 3 The absolute value of the wheel rotation angle is L, the wheel base of the vehicle, and B, the wheel base of the vehicle.
2. The steering control method of a multimode steer-by-wire automobile according to claim 1, characterized by further comprising:
a steering angle sensor provided on the steering wheel for detecting a steering angle of the steering wheel;
and a speed sensor provided at the wheel for detecting a wheel speed.
3. The steering control method of a multimode steer-by-wire automobile of claim 1, wherein,
the steering controller is connected with the vehicle controller through a CAN bus.
4. The steering control method of a multimode steer-by-wire automobile according to claim 3, wherein,
the steering mode includes: parking travel, diagonal, four-wheel steering, front-wheel steering, and center steering.
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| CN201811375757.3A CN109263717B (en) | 2018-11-19 | 2018-11-19 | Multi-mode steer-by-wire automobile and steering control method thereof |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110304139A (en) * | 2019-07-04 | 2019-10-08 | 北京华力兴科技发展有限责任公司 | Wheel steering control method, control device, more wheel walking arrangements and storage medium |
| CN110155169B (en) * | 2019-07-16 | 2019-10-29 | 华人运通(上海)新能源驱动技术有限公司 | Control method for vehicle, device and vehicle |
| CN110481636A (en) * | 2019-09-04 | 2019-11-22 | 徐工集团工程机械有限公司 | Vehicle steering control method and device, wheel steering system, vehicle |
| CN111284554A (en) * | 2020-02-27 | 2020-06-16 | 中国重汽集团济南动力有限公司 | Wire-controlled steering control method |
| CN112208632A (en) * | 2020-10-14 | 2021-01-12 | 宝能(西安)汽车研究院有限公司 | Vehicle steering control method and steering control device and vehicle |
| CN112519593A (en) * | 2020-12-10 | 2021-03-19 | 哈工大机器人湖州国际创新研究院 | Control method and device suitable for four-wheel omnidirectional electric vehicle |
| CN114954646B (en) * | 2022-06-16 | 2023-10-03 | 北京理工大学 | Vehicle steering system and steering method |
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